86 lines
2.8 KiB
C++
86 lines
2.8 KiB
C++
#ifndef LINUX_BOARDTEST_SPITESTCLASS_H_
|
|
#define LINUX_BOARDTEST_SPITESTCLASS_H_
|
|
|
|
#include <linux/gpio/GpioIF.h>
|
|
#include <linux/spi/SpiCookie.h>
|
|
#include <test/testtasks/TestTask.h>
|
|
|
|
#include <vector>
|
|
|
|
class SpiTestClass: public TestTask {
|
|
public:
|
|
enum TestModes {
|
|
NONE,
|
|
MGM_LIS3MDL,
|
|
MGM_RM3100,
|
|
GYRO_L3GD20H,
|
|
};
|
|
|
|
TestModes testMode;
|
|
|
|
SpiTestClass(object_id_t objectId, GpioIF* gpioIF);
|
|
|
|
ReturnValue_t performOneShotAction() override;
|
|
ReturnValue_t performPeriodicAction() override;
|
|
private:
|
|
|
|
GpioIF* gpioIF;
|
|
|
|
std::array<uint8_t, 128> recvBuffer;
|
|
std::array<uint8_t, 128> sendBuffer;
|
|
struct spi_ioc_transfer spiTransferStruct = {};
|
|
|
|
void performRm3100Test(uint8_t mgmId);
|
|
void performLis3MdlTest(uint8_t lis3Id);
|
|
void performL3gTest(uint8_t l3gId);
|
|
|
|
/* ACS board specific code which pulls all GPIOs high */
|
|
void acsInit();
|
|
|
|
/* ACS board specific variables */
|
|
uint8_t mgm0Lis3ChipSelect = 0;
|
|
uint8_t mgm1Rm3100ChipSelect = 1;
|
|
uint8_t gyro0AdisChipSelect = 5;
|
|
uint8_t gyro1L3gd20ChipSelect = 6;
|
|
uint8_t gyro2L3gd20ChipSelect = 4;
|
|
uint8_t mgm2Lis3mdlChipSelect = 17;
|
|
uint8_t mgm3Rm3100ChipSelect = 27;
|
|
|
|
static constexpr uint8_t STM_READ_MASK = 0b1000'0000;
|
|
<<<<<<< HEAD
|
|
static constexpr uint8_t STM_AUTO_INCR_MASK = 0b0100'0000;
|
|
|
|
void setSpiSpeedAndMode(int spiFd, spi::SpiMode mode, uint32_t speed);
|
|
void writeStmRegister(int fd, gpioId_t chipSelect, uint8_t reg, uint8_t value,
|
|
bool autoIncrement);
|
|
uint8_t readStmRegister(int fd, gpioId_t chipSelect, uint8_t reg, bool autoIncrement);
|
|
=======
|
|
static constexpr uint8_t RM3100_READ_MASK = STM_READ_MASK;
|
|
static constexpr uint8_t STM_AUTO_INCR_MASK = 0b0100'0000;
|
|
|
|
void setSpiSpeedAndMode(int spiFd, spi::SpiModes mode, uint32_t speed);
|
|
|
|
void writeStmRegister(int fd, gpioId_t chipSelect, uint8_t reg, uint8_t value,
|
|
bool autoIncrement);
|
|
void writeMultipleStmRegisters(int fd, gpioId_t chipSelect, uint8_t reg, uint8_t* values,
|
|
size_t len);
|
|
void writeMultipleRegisters(int fd, gpioId_t chipSelect, uint8_t reg, uint8_t *values,
|
|
size_t len);
|
|
void writeRegister(int fd, gpioId_t chipSelect, uint8_t reg, uint8_t value);
|
|
|
|
uint8_t readRm3100Register(int fd, gpioId_t chipSelect, uint8_t reg);
|
|
uint8_t readStmRegister(int fd, gpioId_t chipSelect, uint8_t reg, bool autoIncrement);
|
|
uint8_t readRegister(int fd, gpioId_t chipSelect, uint8_t reg);
|
|
void readMultipleStmRegisters(int fd, gpioId_t chipSelect, uint8_t reg, uint8_t *reply,
|
|
size_t len);
|
|
void readMultipleRegisters(int fd, gpioId_t chipSelect, uint8_t reg,
|
|
uint8_t* reply, size_t len);
|
|
>>>>>>> develop
|
|
|
|
};
|
|
|
|
|
|
|
|
|
|
#endif /* LINUX_BOARDTEST_SPITESTCLASS_H_ */
|